﻿/*
 * Copyright (c) 2011
 * Thomas Rozanski, Geoffrey Wright, Zachary Lynn, Jesse Natalie
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the team nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THOMAS ROZANSKI, GEOFFREY WRIGHT,
 * ZACHARY LYNN, OR JESSE NATALIE BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

using System;

namespace Kinected
{
    /// <summary>Failed to create the camera.</summary>
    public class KinectCameraCreationException : System.ApplicationException
    {
        public KinectCameraCreationException(string msg)
            : base(msg)
        {

        }
    }

    /// <summary>Invalid serial number.</summary>
    public class KinectCameraSerialException : System.ApplicationException
    {
        public KinectCameraSerialException(string msg)
            : base(msg)
        {

        }
    }

    /// <summary>The physical Kinect camera.</summary>
    /// <seealso cref="Camera"/>
    /// <seealso cref="MockCamera"/>
    public class RealCamera : Camera
    {
        private IntPtr camera = IntPtr.Zero;
        private RGBAImage rgbaColorImage, rgbaDepthImage;
        private RAWImage rawDepthImage;

        /// <param name="serial">Of the device.</param>
        /// <exception cref="KinectCameraCreationException">Failed to create the camera.</exception>
        /// <exception cref="KinectCameraSerialException">Failed to connect to the camera.</exception>
        public RealCamera(string serial)
        {
            rgbaColorImage = new RGBAImage(640, 480);
            rgbaDepthImage = new RGBAImage(640, 480);
            rawDepthImage = new RAWImage(640, 480);

            try
            {
                camera = CLNUIDevice.CreateCamera(serial);
            }
            catch
            {
                throw new KinectCameraCreationException(String.Format("unable to create kinect camera with serial '{0}'. Create function failed.", serial));
            }

            if (!IsValid())
            {
                throw new KinectCameraSerialException(String.Format("unable to find kinect camera with serial '{0}'. Serial is invalid.", serial));
            }

            Start();
        }

        ~RealCamera()
        {
            if (IsValid())
            {
                Stop();
                CLNUIDevice.DestroyCamera(camera);
            }
        }

        private bool IsValid()
        {
            return camera != IntPtr.Zero;
        }

        /// <summary>Starts the camera and shows the MockupWindow.</summary>
		public override bool Start()
        {
            return CLNUIDevice.StartCamera(camera);
        }

        /// <summary>Stops the camera.</summary>
		public override bool Stop()
        {
            return CLNUIDevice.StopCamera(camera);
        }

        /// <summary>Gets the color image.</summary>
        /// <returns>Image with RGBA data.</returns>
		public override RGBAImage GetRGBAColorImage()
        {
            CLNUIDevice.GetCameraColorFrameRGB32(camera, rgbaColorImage.DataPtr, 0);
            return rgbaColorImage;
        }
        
        /// <summary>Gets the depth image.</summary>
        /// <returns>Depth image with RGBA data.</returns>
		public override RGBAImage GetRGBADepthImage()
        {
            CLNUIDevice.GetCameraDepthFrameRGB32(camera, rgbaDepthImage.DataPtr, 0);
            return rgbaDepthImage;
        }

        /// <summary>Gets the depth image.</summary>
        /// <returns>Depth image with RAW data.</returns>
		public override RAWImage GetRAWDepthImage()
        {
            CLNUIDevice.GetCameraDepthFrameRAW(camera, rawDepthImage.DataPtr, 0);
            return rawDepthImage;
        }
    }
}
